EP1517645A1 - Method and apparatus for controlling a temperature-controlled probe - Google Patents
Method and apparatus for controlling a temperature-controlled probeInfo
- Publication number
- EP1517645A1 EP1517645A1 EP03761979A EP03761979A EP1517645A1 EP 1517645 A1 EP1517645 A1 EP 1517645A1 EP 03761979 A EP03761979 A EP 03761979A EP 03761979 A EP03761979 A EP 03761979A EP 1517645 A1 EP1517645 A1 EP 1517645A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- probe
- temperature
- target
- control
- function
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/1206—Generators therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/08—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by means of electrically-heated probes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00084—Temperature
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
- A61B2017/00482—Coupling with a code
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00642—Sensing and controlling the application of energy with feedback, i.e. closed loop control
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00684—Sensing and controlling the application of energy using lookup tables
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00696—Controlled or regulated parameters
- A61B2018/00702—Power or energy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00636—Sensing and controlling the application of energy
- A61B2018/00773—Sensed parameters
- A61B2018/00791—Temperature
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00988—Means for storing information, e.g. calibration constants, or for preventing excessive use, e.g. usage, service life counter
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
- A61B2018/0231—Characteristics of handpieces or probes
- A61B2018/0237—Characteristics of handpieces or probes with a thermoelectric element in the probe for cooling purposes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/02—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by cooling, e.g. cryogenic techniques
- A61B2018/0231—Characteristics of handpieces or probes
- A61B2018/0262—Characteristics of handpieces or probes using a circulating cryogenic fluid
Definitions
- the invention relates generally to medical probe devices, and more particularly to probes whose temperature may be controlled in a thermally- discontinuous environment to vary thermal energy delivered to tissue during a medical procedure.
- the most abundant tissue in the human body is soft tissue, and most soft tissue is collagen. Indeed, over 90% of the organic matter in tendons and ligaments is collagen.
- the connective tissue in joints is comprised of soft tissue, generally collagen tissue. When soft tissue in a joint is damaged, the healing process is often long and painful.
- thermal energy to soft tissue, such as collagen tissue
- joints to try to alter or manipulate the tissue to provide a therapeutic response during thermal therapy.
- applying controlled thermal energy to soft tissue in an injured joint can cause the collagenous tissue to shrink, thereby tightening unstable joints.
- Medical probes for the rehabilitative thermal treatment/of soft tissues are known in the art. Examples of these probes include laser probes and RF heated probes. While these probes meet the basic need for rehabilitative thermal treatment of soft tissues, such as collagen tissues, many suffer from temperature overshoot and undershoot fluctuation, causing unpredictable results in the thermal alteration.
- a system In general, a system is over-damped when its damping factor is greater than one, and the system will have a slow response time. A system is critically damped when its damping factor is exactly one. A system is under-damped when its damping factor is less than one. In an under-damped system, "ringing" is a problem and can result in the momentary application of temperatures that are too high for the safe heating of soft tissue. When this occurs, damage to the soft tissue may result from charring, ablation or the introduction of unwanted and harmful effects on the soft tissue causing injury.
- medical probes are attached to a controller that controls the probe power output based on an actual temperature measurement from a temperature sensor such as a thermocouple in the probe, and a set predetermined target temperature.
- the controller is part of a system that includes circuitry to monitor temperature sensed by the temperature sensor.
- Temperature-controlled probes are designed to provide precise coagulation, to eliminate damage, charring, and bubbles.
- Different size probes with various configurations are available to treat various joint sizes including the shoulder, knee, ankle, wrist and the elbow.
- Precise temperature control of the system in which the probes are used is required during various types of thermal therapy of soft tissue.
- hyperthermia which is defined as the treatment of diseased soft tissue by raising the bodily temperature by physical means
- some prior art probes have difficulty in providing smooth and consistent heating because the preferred materials for the energy delivery electrodes are highly thermally responsive materials. Such materials generally do not retain large amounts of heat energy.
- the controller rapidly heats the probe to achieve the target temperature, which can result in an overshoot problem.
- probe contact with large tissue masses tends to cause underdamped fluctuations in the probe temperature due to vast differences in the temperature of the surrounding tissue mass.
- similar problems may occur during a desired reduction in the soft tissue temperature.
- a method and apparatus are needed that allows the controller to change operation in response to the type of probe attached, preferably while reducing if not eliminating temperature overshoot and oscillation during treatment of tissue with the probe. More preferably, such method and apparatus should more rapidly produce adequate thermal energy at the tissue under treatment without overshooting or otherwise exceeding a desired target temperature, and without prematurely reducing thermal output power. In addition, such probe should be continuously controllable even in a thermally discontinuous environment such as arthroscopic environments.
- the present invention provides a method, a system and a computer readable medium containing software for execution by a computer processor used in conjunction with a system that continuously controls power output to a probe, to maintain a target temperature at tissue treated with the probe by a physician or other medical practitioner. Further, such probe may be successfully used in discontinuous environment such as arthroscopic environments.
- a method of dynamically controlling power output of a probe that has a probe thermal element and a probe temperature sensor and is coupled to a system that includes a controller to maintain a target probe temperature without substantial thermal overshoot, the method including the following steps: (a) providing in a memory at least one set of settings for said probe including at least one gain parameter and corresponding predetermined operating characteristic for said probe;
- Pout k4, where pout is an output power control signal, and k4 is a constant, when probe temperature is less than a desired target probe temperature; and definable in part by:
- Pout Kp.P+Ki.l+Kd.D when probe temperature is within a threshold range of said desired target probe temperature;
- Pout is an output power control signal
- Kp is a proportional gain factor associated with said control function
- Ki is an integral gain factor associated with said control function
- Kd is a derivative gain factor associated with said control function
- P, I an D are proportion, integration, and derivation functions associated with said control function
- a method of dynamically controlling power output of a probe that has a probe thermal element and a probe temperature sensor and is coupled to a system that includes a controller to maintain a target probe temperature at the probe without substantial thermal overshoot, the method including the following steps:
- the system includes a controller, a probe, and a mechanism that couples the probe to the controller.
- the probe includes a thermal element that can generate heat or cold, and also includes a temperature sensor that senses temperature at the probe.
- the system and controller preferably effectively accommodate different probe types by providing at least one selectable probe setting for the probes such that controller operation is modified in response to the selected probe setting. This permits controlling the probe output power to more effectively maintain a desired target temperature, preferably without overshooting or exceeding the target temperature.
- the system further includes memory storing at least one set of probe settings, where each stored setting preferably includes at least one gain parameter and corresponds to predetermined operating characteristics for a probe.
- each stored setting preferably includes at least one gain parameter and corresponds to predetermined operating characteristics for a probe.
- a target temperature and a first probe setting that corresponds to a desired set of operating characteristics for a probe is received, and a set of probe setting is selected responsive to the first probe setting.
- the senses temperature is compared to the desired target temperature and an error signal is generated.
- a control function that uses the gain parameter from the selected set of probe settings is applied to the error signal to yield an output control signal.
- a proportional integral differential (PID) algorithm modifies power delivered to the thermal element in response to the output control signal to attain the desire target temperature.
- PID proportional integral differential
- discontinuous probe changes occur because the probe tip is not machine controlled but rather manipulated non-predictably by a medical practitioner. As the probe is moved, as different tissue textures are encountered, discontinuous probe changes occur.
- arthroscopic pumps that control the flow of saline at room temperature turn-on and turn-off, and contact pressure (or lack thereof) with tissue changes.
- the present invention employs what may be described as a discontinuous algorithm, in contrast to the continuous algorithm employed in the parent application and in U.S. Patent 6,162,217.
- the present invention using a discontinuous algorithm that first outputs a constant power Pout until the measured probe temperature is within a desired range of the threshold target probe temperature.
- the algorithm solves a modified proportional- integration, and derivation(or "PID") algorithm defined as
- Kp-P + KM + Kd-D Kp-P + KM + Kd-D
- Ki is an integral gain factor
- Kd is a derivative gain factor
- P, I, and D are proportion, integration, and derivative functions.
- coefficients Kp, Ki, Kd are constants, these coefficients may be varied dynamically depending upon response of a measured parameter, for example temperature, or perhaps impedance, or perhaps a measured voltage magnitude.
- the present invention enables probe temperature to rapidly be ramped in magnitude to a set-point value close to the desired target probe temperature, and thereafter to be controlled with the PID algorithm with much finer granularity of control. As a result, overshoot is minimized.
- a computer readable medium containing software for execution by a computer processor used in conjunction with a system to dynamically control power output of a probe having a probe thermal element and a probe temperature sensor, said memory including at least one set of settings for said probe including at least one gain parameter and corresponding predetermined operating characteristics for said probe, and said system functioning such that a target probe temperature is maintained at the probe, said software upon execution by said processor carrying out the following steps:
- Fig. 1 illustrates a controller and probe, according to an embodiment of the present invention
- Fig. 2 illustrates the controller of Fig. 1 , in accordance with an embodiment of the present invention
- Fig. 3 illustrates an exemplary table, stored in the memory of Fig. 2, associating a particular probe setting with a particular switch position, according to the present invention.
- Fig. 4 illustrates the first embodiment of a proportional-integral- derivative (PID) control function, according to the present invention
- Fig. 5 illustrates an embodiment of the derivative operation of Fig. 4;
- Fig. 6 illustrates a second embodiment of a PID control function, according to the present invention
- FIG. 7 illustrates a third embodiment of a PID control function, according to the present invention
- FIG. 8 is a flowchart of the PID control function of Fig. 4;
- FIG. 9 is a flowchart of the derivative operation of Fig. 5 that is used in step 128 of Fig. 8;
- FIG. 10 is a flowchart of a first embodiment of an antiwindup function, according to the present invention.
- FIG. 11 is a flowchart of a second embodiment of an antiwindup function, according to the present invention.
- FIG. 12 is a flowchart of an embodiment that varies target temperature to attain final target temperature, according to the present invention.
- FIG. 13 is an exemplary temperature profile stored in the memory of Fig. 2;
- FIG. 14 is a detailed flowchart of step 188 of Fig. 13.
- FIG. 15 illustrates an additional and presently preferred embodiment of a discontinuous proportional-integral-derivative (PID) control function, according to the present invention.
- PID discontinuous proportional-integral-derivative
- Fig. 15 The presently preferred embodiment of the present invention is depicted in Fig. 15. However to arrive at a better understanding of Fig. 15, it is useful to first consider Figs. 1-14, which are applicable to the invention described in U.S. patent 6,162,217 and will lead to a better understanding of the present invention.
- the inventions described in the '217 patent will be referred to herein as the parent invention, or the invention in the '217 patent.
- the presently preferred invention as well as the parent invention include a probe 16 and a temperature controller 20 (or a generator 20) that is coupled to the probe. As shown in Fig.
- thermal element 22 is attached to a probe tip 24 of probe 16.
- Thermal element 22 can be used to alter temperature of tissue being treated with probe 16, by heating or cooling.
- thermal element 22 may include at least one of a transducer that delivers RF energy to the tissue, a resistive heating element that delivers thermal energy to the tissue, and a cooling element including an element that cools with liquid nitrogen, or electronically, e.g., with a Peltier cell. Exemplary probes and energy delivery systems are described more fully in U.S. Patent no. 5,458,596 to Lax et al., which is incorporated herein by reference.
- a temperature sensor 26 such as a thermocouple, senses surrounding temperature.
- the sensed temperature is coupled to controller 20, which controls the amount of power coupled to thermal element 22, to change temperature of probe tip 24, or to change temperature of the tissue being treated with the probe, e.g., during delivery of RF energy to the tissue.
- thermal energy can be used to treat soft tissue
- temperature controller 20 is part of a medical system used by physicians to adjust thermal energy in treating soft tissue
- a physician or other medical practitioner activates a control 28, such as a knob or a digital switch, on the controller 20.
- the target temperature is displayed on a display 30.
- Selection of operating characteristics for the controller may be made by the physician, e.g., by adjusting a multiposition switch 32, e.g., a thumbwheel switch, or other switch selection device.
- each switch position preferably is associated with a probe and tissue combination.
- the physician may obtain the desired operating characteristics, and therefore switch position, from the manufacturer of the controller 20, for example from the instructions for use (IFU) provided by the controller manufacturer. In this way the physician can set both desired or target temperature and operating characteristics for different probes.
- Controller 20 preferably includes a processor 34 that communicates with memory 36, control 28, display 30, switch 32, and a power control circuit 38 that controls a power source 40 that is attached to probe 16.
- Processor 34 typically includes a microprocessor and peripheral ports that couple to control 28, to display 30, to switch 32, and to power control circuit 38.
- Memory 36 typically includes semiconductor memory but may instead (or in addition) include other memory types, e.g., magnetic disk memory, and optical storage memory.
- the parent invention and the preferred embodiment of the present invention include various forms of a so-called proportional integral differential or PID.
- memory 36 stores a PID_Temperature_Control routine or procedure 42, and a PI D e generation procedure 43 (described later herein), N sets of probe settings denoted Probe_Settings_1 to Probe_Settings_N, 44 to 46, respectively, a Temperature Profile 47, and a Switch Setting Table 48.
- An exemplary probe setting 46 stored in memory 36 includes a proportional gain factor Kp, an integral gain factor Ki and a derivative gain factor Kd, and may further include a default target temperature and a default maximum power value.
- Processor 34 executes the PID_Temperature__Control procedure 42 to control the probe-temperature using a PID control methodology that is implemented in the PID_generation procedure 43.
- Lower gain settings such as A, B and C are beneficial in an application where the probe is stationary for long periods of time and the temperature is varied slowly, e.g., over minutes.
- the lower gain settings provide more precise temperature control.
- memory 36 also stores a Task_scheduler 49a, a Set_target_temperature procedure 49b, a PID_control procedure 49c, and a target_temperature 49d (explained later herein with reference to Figs. 12-14).
- switch setting table 48 associates each switch 32 setting with a set of probe settings.
- Table 2 depicts exemplary switch settings for table 48, and summarizes the relationship between various switch positions, default temperature, default maximum output power, gain settings, and probe type.
- a hardware implementation of one embodiment of a proportional-integral-derivative (PID) temperature control is shown, in which block 50 identifies components of a hardware implementation that may be used to carry out a control method according to the present invention.
- PID proportional-integral-derivative
- block 50 identifies components of a hardware implementation that may be used to carry out a control method according to the present invention.
- software implementations may be provided to carry out the control method described, based upon the within disclosure.
- temperature control block 50 is implemented in software in the PID_Temperature_Control procedure 42.
- the various embodiments of the present invention will be described with respect to hardware implementation, followed by a description of relevant software and software flowcharts.
- the physician sets the desired temperature using control 28 and associated circuitry, which outputs a digital target temperature signal.
- the digital target temperature signal is multiplied by a constant gain value, Ks, by amplifier 52, where Ks -10.
- probe tip 24 alters temperature of the tissue 56 under treatment with probe 16.
- Temperature sensor 26 e.g., a thermocouple, senses surrounding change in temperature and outputs an analog signal that corresponds to the sensed temperature.
- An analog-to-digital (A D) converter 58 converts the analog sensed temperature signal to a digital sensed temperature value.
- the A/D converter 58 may also be calibrated to multiply the sensed temperature signal by a predetermined value, such as ten to match the temperature signal.
- a first summer 60 generates an error value or error signal e(t) by subtracting the digital sensed temperature value from the digital target temperature value.
- PID generator block 61 generates three signals or values: a proportional value, an integral value, and a derivative value.
- PID generator block 61 may be implemented using PID_generation procedure 43 of Fig. 2.
- a first amplifier 62 multiplies the error value by the proportional gain factor Kp to generate a proportional signal or value.
- a second summer 64 subtracts an anti-integral windup signal from the error signal e(t), and provides its output via switch 66 an integrator 68.
- Integrator 68 integrates the adjusted error value, as represented by the 1/s Laplace transform, to generate an intermediate value or signal.
- integrator 68 may use any of several well-known algorithms including without
- a second amplifier 70 multiplies the intermediate value output from integrator 68 by the integral gain factor Ki to generate the integral value.
- Derivative unit 72 applies a transfer function to the sensed temperature value to generate an intermediate derivative signal or value to generate the derivative value.
- a third amplifier 74 multiplies the intermediate derivative signal or value by the derivative gain factor Kd.
- the transfer function is
- a third summer 76 adds the proportional value, the integral value and the
- the proportional gain factor, the integral gain factor, and the derivative gain factor are determined from the setting of switch 32, the table and the sets of settings 25 in memory 36 before starting the PID control operation, in this way, the PID control function and gains of the proportional, integral and derivative values can be customized to different types of probes.
- clamping circuit 78 if the PID control value exceeds a predetermined 0 threshold, clamping circuit 78 will output an adjusted PID control value. Thus, clamping circuit 78- outputs a maximum allowed power value to power control circuit 38 to limit or clamp the amount of power supplied to the probe to prevent overheating. If the PID control value does not exceed the predetermined threshold, the clamping circuit 78 outputs the PID control value.
- the PID_Temperature_Control procedure determines the default maximum allowed power from the default maximum power value of table 48 of Fig. 3. In an alternate embodiment, the physician manually sets the maximum allowed power.
- An antiwindup circuit also helps limit the amount of power. This is accomplished by preventing the integrator from including large power surges, which enables the integrator to more effectively output a stable steady state value and therefore a more stable operating temperature of the probe.
- a fourth summer 82 subtracts the adjusted PID control value from the PID control value, to generate an antiwindup difference.
- a fourth amplifier 84 multiplies the antiwindup difference by an antiwindup gain factor Kw, typically four, to generate an antiwindup error.
- the second summer 64 subtracts the antiwindup error from the error value e(t).
- the antiwindup difference is typically zero and the error value supplied to the integrator 68 is not affected. But when the PID control value is large, for example when power is first turned on, the PID control value may exceed the maximum allowable power, and the PID control value will be clamped. In this case the antiwindup difference will be greater than zero and a positive value will be supplied to the positive input of the second summer 64 to reduce the magnitude of the error value supplied to the integrator, thereby reducing the effect of large surges.
- the physician may control the amount of power supplied to probe 16 use foot switch power control 86 to control position of switches 38 and 66.
- foot switch power control 86 When foot switch power control 86 is not engaged, a zero value is supplied to the integrator 68 via a first zero block 92 at a first switch position.
- a second zero block 94 is used by the power control circuit 38 such that no power is output to the probe.
- switch 66 When the foot switch power control 86 is engaged, switch 66 changes to a second switch position and allows the output of the second summer 64 to flow to the integrator 68.
- switch 38 changes to a second switch position and allows the output control value to flow from the clamping circuit 78 to the probe.
- the transfer function 72 shown in Fig. 4 may be implemented with the exemplary derivative unit 72 shown in Fig. 5.
- Transfer function unit 72 receives an input signal X and outputs a value Y.
- a fifth amplifier 96 multiplies the input signal X by a value A0.
- Derivative unit 72 includes an integrator 98 that dampens the effect of the derivative function, thereby reducing the sensitivity of the derivative unit 72 to large changes in the input signal, and to noise.
- a digital implementation for integrator 98 may be readily implemented using existing algorithms. At " power on, integrator 98 output is initialized to zero.
- a sixth amplifier 100 multiplies the integrator output by A0 to generate a modified integrated signal.
- a fifth summer 102 subtracts the modified integrated signal from the multiplied input signal, and a seventh amplifier 104 multiplies the summer 102 output by B1 to generate the intermediate integrated value.
- A0 is equal to four and B1 is equal to one.
- the PID control function shown in Fig. 6 is similar to that of Fig. 4 except that the antiwindup function is implemented differently.
- the antiwindup difference is used as a switch to stop further integration, thereby resulting in an improved steady state operation.
- integrator 68 can integrate, but when the antiwindup difference is non-zero, integrator 68 stops integrating.
- fourth summer 82 generates the antiwindup difference, which difference is compared by comparator 106 with a zero value 107.
- the output from comparator 106 is inverted by inverter 108.
- AND gate 110 In response to inverter 108 and a signal from foot switch control 86, AND gate 110 generates a position control signal that controls switch 64.
- the foot switch power control signal has zero value, and the output from AND gate 110 will be a digital zero value, and switch 64 moves to the first switch position to output a zero value, thereby preventing the integrator 68 from integrating.
- the foot switch power control signal is a digital one value
- the AND gate 110 will respond to the antiwindup circuit.
- comparator 106 outputs a digital zero value that is inverted to a digital one by inverter 108. Since the inverter 108 now outputs a digital one value, the AND gate 110 outputs a digital one value, and switch 64 is positioned at the second switch position, as shown in Fig. 6, and the integrator 68 integrates the error signal e(t).
- comparator 106 When the antiwindup difference is not equal to zero, the antiwindup difference has a positive value, comparator 106 outputs a digital one value and inverter 108 outputs a zero value. In response to the zero value from inverter 108, the AND gate 110 outputs a digital zero value and switch 64 is positioned at the first switch position to output the zero value to the integrator 68, thereby preventing the integrator 68 from integrating.
- Fig. 7 is similar to that shown in Fig. 6 except that the error signal e(t) is supplied to the derivative block 72.
- Fig. 8 is a flowchart of the PID_Temperature_Control procedure 42 of Fig. 2, used to implement the PID control method of Fig. 4.
- steps 112 sets of probe settings and a table associating the probe settings with switch settings are provided in the memory, as described above. Each set corresponds to predetermined operating characteristics for a particular probe.
- the PID_Temperature_ControI procedure 42 receives a target temperature.
- the target temperature can be set by the physician, for example in conjunction with display 30.
- the target temperature value used by the PID temperature controller is the temperature set by the physician, for example in degrees Celsius, multiplied by a factor, such as ten.
- the target temperature can be set by the physician, for example in degrees Celsius, multiplied by a factor, such as ten.
- PID__Temperature_Control procedure 42 receives a first setting corresponding to a desired set of operating characteristics from the multiposition switch.
- the PID_Temperature_ControI procedure 42 selects a particular set of the sets of probe settings in response to the multiposition switch setting.
- the particular set has the proportional, integral and derivative gain factors, Kp, Ki and Kd, respectively, as described above, that will be used by the PID_generation procedure. If the physician has not set a target temperature, the default target temperature stored in memory for the selected switch setting is used.
- the PID_Temperature_Contro! procedure waits a predetermined amount of time before the next sample period. In one embodiment the predetermined amount of time is equal to 20 ms. In other words, the PID_Temperature_Control procedure samples the sensed temperature value output by the probe every 20 ms. In one implementation, the PID_Temperature_Control procedure uses interrupts to trigger the sample periods.
- step 120 a sensed temperature value is received. Similar to the target temperature, the sensed temperature value represents the actual temperature in degrees Celsius and multiplied by a factor of ten. In step 122, an error value is generated by subtracting the sensed temperature from the target temperature.
- steps 124 to 130 are implemented in the PID_generation procedure 43 of Fig. 2, which is invoked by the
- PID_Temperature_ControI procedure The PID_generation procedure also corresponds to the PID generation block 61 shown in Fig. 4.
- a proportional value is generated by multiplying the error value by the particular proportional gain parameter, Kp.
- an integral value is generated by subtracting the anti-integral windup value from the error value, integrating the resulting value of the subtraction and multiplying the integrated adjusted error value by the particular integral gain parameter, Ki.
- Integrator 68 can be implemented using various well known algorithms.
- a derivative value is generated by applying a derivative transfer function to the sensed temperature value, as described above, and multiplying the result of the transfer function by the particular derivative gain parameter.
- an output control signal is generated by summing the proportional value, the integral value and the derivative value.
- step 132 the output control signal ⁇ sped to a predetermined output value when the output control signal exceeds a predetermined threshold value.
- the predetermined threshold value is the default set power from Table 2, or the predetermined threshold value can be manually set by the physician. Alternatejy, based on the multiposition switch setting, the default maximum power value stored in one of the tables, described above, is used.
- step 134 an amount of power is output to the thermal element of the probe in response to the output control signal, and the process repeats at step 120.
- Fig. 9 is a detailed flowchart of step 128 shown in Fig. 8, which step generates the derivative value.
- the current sensed temperature value is multiplied by a first constant, AO.
- a temporary value is generated by subtracting an integrated output value from the multiplied current sensed temperature. Initially, the integrated output value is zero and is modified with each current sensed temperature reading.
- the temporary value is multiplied by a second constant, B1 , to generate the derivative value.
- a new integrated value is generated based on a previous sensed temperature value and the current sensed temperature value. Again, the integration may be carried out using any of several well known algorithms.
- the new ' integrated value is multiplied by the first constant, A0, to generate another integrated output value which is used in subsequent calculations. As described above, preferably, the first constant, A0, is equal to four and the second constant, B1, is equal to one.
- Figs. 8 and 9 depict an alternate embodiment in which error values are input to the derivative operation instead of the sensed temperature values.
- Fig. 10 is a flowchart of PID_Temperature_Control procedure 42 shown in Fig. 4, and used to implement the antiwindup function of Fig. 4.
- step 152 an antiwindup difference is determined by subtracting a maximum predetermined clamping value from the output control signal.
- step 154 an antiwindup adjustment value is generated by multiplying the antiwindup difference by an antiwindup gain factor.
- step 156 the antiwindup adjustment value is subtracted from the error value to generate a modified error value, which modified error value is integrated at step 158.
- Fig. 11 is a flowchart of the PID_Temperature_Control procedure 42 of Fig. 2, used to implement the alternate embodiment of the antiwindup function of Fig. 6.
- an antiwindup difference is determined by subtracting a maximum predetermined clamping value from the output control signal.
- step 164 when the antiwindup difference is not zero, the procedure stops integrating the error values.
- Fig. 12 is a flowchart of the PID_Temperature_Control procedure 43 of Fig. 2, used to implement the variable temperature setting. Physicians may want to change the temperature profile depending on the application. When operating on large body joints, the physician may want to use the probe in a high power mode to heat the probe quickly and maintain the target temperature. However, when operating on the spine, the physician may want to use a low power mode with a very controlled temperature and no overshoot.
- the physician via the multiposition switch can select a particular temperature profile (see block 47, Fig. 2).
- the physician also may set a final target temperature.
- the selected switch position corresponds to a particular temperature profile with a ramp parameter at which to ramp up the output temperature.
- a ramp parameter At which to ramp up the output temperature.
- FIG. 13 additional exemplary temperature profiles are shown.
- Each profile 176, 178 stores a ramp parameter (Ramp 1 , Ramp N), gain settings, and a final target temperature.
- the target temperature is initialized to a starting temperature based on the ramp parameter.
- the set of gain factors associated with the ramp parameter are retrieved and loaded into a PID control block for use by the PID_control procedure.
- the PID_Temperature_Control procedure configures the microprocessor to generate an interrupt at predetermined intervals, preferably every 20 ms.
- step 186 • ' " the target temperature is set using the Set_target_temperature procedure (49b, Fig. 2). If step 186 is being executed in response to a first interrupt, the target temperature is already set to the starting temperature. Otherwise, the target temperature is changed by adding the ramp parameter to the target temperature if a predetermined amount of time has elapsed between successive target temperature changes. Preferably, the target temperature is changed every thirty seconds. If the sum of the ramp parameter and the target temperature exceeds the final target temperature, then the target temperature is set to the final target temperature.
- step 188 the PlD_control procedure (see element 49c, Fig. 2) is executed to control the temperature of the probe.
- the PID_control procedure is executed at each interrupt, every 20 ms.
- the PID_control procedure will be shown in further detail in Fig. 14.
- step 190 the PID_Temperature_Control procedure waits for the next interrupt to occur.
- the microprocessor executes a task scheduler (49a, Fig. 2), such as a round-robin task scheduler, to generate the interrupts and to execute the Set_target__temperature procedure and the P!D_contro! procedure as tasks.
- the target temperature is stored in the memory (see element 49d, Fig. 2) for access by both the Set_target_temperature procedure and the PI D e control procedure.
- the Set_target_temperature procedure changes the gain factors in addition to changing the target temperature. For example, for a particular switch position setting, a low power application with a very controlled temperature is desired. Based on the switch position, the PID_Temperature__ControI procedure sets an initial target temperature that is much lower than the final target temperature. The PID_Temperature Control procedure also uses the predetermined set of gain values associated with the particular switch position setting and the interrupts are configured. In response to the interrupts, the Set_target_temperature procedure and the PID_control procedure are executed every 20 ms.
- the Set_target_temperature procedure increments the initial target temperature by a predetermined amount, such as - one degree, to generate the next target temperature. In this way, the Set_target_temperature procedure increments the intermediate target temperature until the final desired target temperature is reached. As a result, the temperature of the probe is very well-controlled and overshoot is substantially avoided.
- Fig. 14 a flowchart of the PID_Control procedure of step 188 of Fig. 12 is shown.
- the PID__Control procedure uses steps 120-134 of Fig. 8, which were described above.
- the antiwindup adjustment of Figs. 10 or 11 can be used with the PID_Control procedure of Fig.14.
- the target temperature can be set to increase or decrease the tissue temperature. Therefore, the method and apparatus can control both high temperature and low temperature probes to heat or cool tissue.
- Fig. 15 a presently preferred embodiment of a PID control procedure is depicted. Unless otherwise noted, elements or blocks in Fig. 15 bearing like reference numerals to elements previously described may be considered identical to the previously described elements. Note the addition of two new blocks, namely blocks 100-103.
- a design goal of the presently preferred embodiment is that the actual probe temperature should rapidly approach a desired threshold target probe temperature and thereafter be very precisely controlled such that there is not substantial temperature overshoot, preferably not even for short signal time intervals.
- several facets of discontinuous control algorithms are used to control the difference between actual measured temperature and the desired target temperature.
- the use of dynamically selectable discontinuous algorithms permits optimizing probe power output for a specific time period during the treatment cycle. Initially, a probe according to the presently preferred embodiment will be operated at a constant power out (Pout) mode, during which probe temperature can rapidly ramp up towards a desired threshold target temperature. Once within a threshold range of this target temperature, discontinuous regions of a control PID algorithm as shown in Fig. 15, block 100, can more finely control probe temperature. The end result is that the desired probe temperature is rapidly reached and maintained, even in arthroscopic environments.
- This new approach differs from the continuous PID control algorithms described in the '217 patent in that discontinuities exist in the present algorithm, as shown by block 100 in Fig. 15.
- the continuous algorithms in the '217 patent were fairly predictive but tended to be conservative in that the control mechanism tended to reduce the power delivered to the probe before reaching the target temperature.
- the PID control algorithm shown in block 100, Fig. 15 tends to more rapidly attain the target temperature using a faster ramping up procedure, and provides relatively fine granularity of optimum rate parameters for power control.
- Pout Kp-P + KM + Kd-D
- Pout is output power
- Kp is a proportional gain factor
- Ki is an integral gain factor
- Kd is a derivative gain factor
- P, I, and D are proportion, integration, and derivation functions.
- the modified PID algorithm can adjust the rate at which the probe temperature approaches the target temperature, where the Ki-I factor integrates the temperature difference and tends to increment temperature such that the average temperature becomes the desired target temperature. The result is a more rapid control of probe temperature, without exceeding the target temperature, even as the probe is moved over the tissue under treatment.
- Error signal e(t) which is available as an input to blocks 62, 64, 100 in Fig. 15, provides a measure of how closely the measured parameter is to a target parameter.
- the measured parameter may be impedance, or voltage, or some other variable, in the preferred embodiment, probe temperature is the parameter of interest.
- 11 can represent the measured parameter of interest, e.g., probe tip temperature, and ml can represent a desired threshold regime.
- a constant , as the probe tip temperature ramps up and becomes sufficiently close to the first threshold regime, the discontinuous PID algorithm will take control of output power Po, e.g.,
- coefficients Kp, Ki, Kd may be constant in many applications, the present invention permits dynamically altering any or all of these coefficients, depending upon the response of the jxieas ⁇ re parameter, e.g., probe temperature.
- the jxieas ⁇ re parameter e.g., probe temperature.
- coefficients in the PID algorithm will be, in the example shown, Kp1 , KH , Kd1. If probe temperature is close to a second regime, then coefficients can dynamically be changed to Kp2, Ki2, Kd2, and so forth.
- ranges of e(t) can be used to select any or all of the appropriate coefficients Kp, Ki, Kd.
- the dynamic PID algorithm then causes the probe to deliver thermal power to heat tissue at a desired rate, with an optimal spread of tissue temperature and thermal energy depth, without dramatic changes in tissue surface temperature.
- thermal control according to the '217 patent could do a good job in maintaining probe temperature in a thermally stable environment, e.g., surface heating
- the discontinuous PID functions used in the present invention can help maintain probe temperature with finely controlled granularity, without substantial overshoot in the greater tissue depths associated with an arthroscopic environment, including treating ligaments.
- Fig. 15, block 100 may be understood to present a set of logic statements to determine the value of Kp, Ki, Kd based upon error signal e(t), according to the presently preferred embodiment.
- coefficients Kp, Ki, and Kd take on different values.
- the various limit factors e.g., I.,, I 2 , ..., m.,, m 2 , ... and co-efficient or gain factors Kp.,, Kp 2 ..., Ki.,, Ki 2 , ..., Kd.,, Kd 2 preferably will have been stored in memory 36 (see Fig. 3).
- the Boolean argument e(t)>n controls the state of the power output control circuit, shown herein as 102.
- the power output control circuit supplies either the PID-calcuIated amount of power, or the maximum amount of power selected by the physician user at 103.
- the Kp-P portion of the algorithm looks at the difference between the actual probe temperature (e.g., as determined by sensor 26) and the desired target temperature (e.g., as set by the physician using control 28).
- the Kd-D portion of the algorithm examines the rate at which the probe temperature is actually approaching the desired target temperature, and the Kd-D portion of the algorithm predicts whether the present settings (arid these settings are dynamic) will result in attaining, without exceeding, the target temperature.
- the above, dynamic, solution better enables the probe to be used in arthroscopic treatments where the probe is continuously being moved across tissue that is at relatively low temperature, e.g., 37 °C.
- the probe movement across relatively cooler tissue presents a thermal load that can make it difficult to elevate the probe temperature to. the desired ' temperature quickly, but without overshoot.
- This challenge is met by the PID configuration of Fig. 15 in that the algorithm reconfigures the control system dynamically, depending upon whether the probe temperature has just started to move toward the target temperature, or whether the probe temperature is indeed quite close to the target temperature.
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Application Number | Priority Date | Filing Date | Title |
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US187462 | 1994-01-28 | ||
US10/187,462 US6939346B2 (en) | 1999-04-21 | 2002-06-28 | Method and apparatus for controlling a temperature-controlled probe |
PCT/US2003/019681 WO2004002346A1 (en) | 2002-06-28 | 2003-06-20 | Method and apparatus for controlling a temperature-controlled probe |
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EP1517645A1 true EP1517645A1 (en) | 2005-03-30 |
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EP03761979A Withdrawn EP1517645A1 (en) | 2002-06-28 | 2003-06-20 | Method and apparatus for controlling a temperature-controlled probe |
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US (1) | US6939346B2 (ja) |
EP (1) | EP1517645A1 (ja) |
JP (1) | JP2005531367A (ja) |
AU (1) | AU2003243723A1 (ja) |
WO (1) | WO2004002346A1 (ja) |
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- 2003-06-20 AU AU2003243723A patent/AU2003243723A1/en not_active Abandoned
- 2003-06-20 JP JP2004517734A patent/JP2005531367A/ja active Pending
- 2003-06-20 WO PCT/US2003/019681 patent/WO2004002346A1/en not_active Application Discontinuation
- 2003-06-20 EP EP03761979A patent/EP1517645A1/en not_active Withdrawn
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Also Published As
Publication number | Publication date |
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US6939346B2 (en) | 2005-09-06 |
US20030060818A1 (en) | 2003-03-27 |
AU2003243723A1 (en) | 2004-01-19 |
JP2005531367A (ja) | 2005-10-20 |
WO2004002346A1 (en) | 2004-01-08 |
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